混凝土泵车臂架运动学分析与工作空间仿真  

Kinematics analysis and workspace simulation of concrete pump truck arm

作　　者：田国富[1] 何国军[1] 宋菲[1] 王欢[1] 张建平[1] 

机构地区：[1]沈阳工业大学机械工程学院,辽宁沈阳110870

出　　处：《机械》2014年第5期66-69,共4页Machinery

摘　　要：基于混凝土泵车臂架系统的结构特点,对臂架结构进行模型简化,得出臂架系统自由度。将臂架模拟成机械臂,运用D-H法对臂架模型进行运动学分析,列出臂架运动数学模型,进而借助Matlab求解臂架工作空间,绘制出臂架末端参考点的工作空间点云图。分析臂架机构参数对工作空间的影响,为泵车臂架的设计研发和现场施工泵车选型提供了参考。Based on the structure characteristics of concrete pump truck arm system, the model of arm structure is simplified to come up to the arm system freedom degree. The arms are simulated to mechanical arms, carrying out the kinematics analysis on arm model with D-H method, listing the mathematical model of arm motion. Use Matlab to solve the work space of arm, then the work space cloud picture of the end arm reference point is drawn. Analyze the influence of arm frame parameters on work space, providing a reference for design and development of pump truck arm and the pump truck selection of the site construction.

关 键 词：混凝土泵车 运动学 D-H法 工作空间 臂架 

分 类 号：TU646[建筑科学—建筑技术科学]